EP2043896A1 - Verfahren und vorrichtung zur vermeidung und/oder minderung der folgen von kollisionen - Google Patents
Verfahren und vorrichtung zur vermeidung und/oder minderung der folgen von kollisionenInfo
- Publication number
- EP2043896A1 EP2043896A1 EP07730160A EP07730160A EP2043896A1 EP 2043896 A1 EP2043896 A1 EP 2043896A1 EP 07730160 A EP07730160 A EP 07730160A EP 07730160 A EP07730160 A EP 07730160A EP 2043896 A1 EP2043896 A1 EP 2043896A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- obstacle
- potential
- avoiding
- determined
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 16
- 230000001419 dependent effect Effects 0.000 claims description 4
- 230000007613 environmental effect Effects 0.000 claims description 4
- 230000000116 mitigating effect Effects 0.000 claims description 2
- 230000004913 activation Effects 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 4
- 238000011156 evaluation Methods 0.000 description 1
- 238000001454 recorded image Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
Definitions
- the invention relates to a method and apparatus for avoiding and / or
- sensor systems e.g. a video sensor that can be used to detect and / or classify objects.
- Sensors for detecting the vehicle environment include e.g. Ultrasonic, radar, lidar and / or video systems.
- hydraulic units of ESP systems, actively controllable brake boosters, electrohydraulic brake systems or, in future, electromechanical brake systems are available as controllable subsystems of brake systems for active pressure build-up
- EP 891 903 A2 describes a device which automatically brakes a vehicle precisely when a collision with an obstacle can no longer be avoided by utilizing the physical boundary of the vehicle.
- FIG. 1 shows a device in which the flowchart shown in FIG. 2 is realized.
- Detection of an impact of the vehicle on an obstacle which is unavoidable due to emergency braking With the aid of at least one environmental sensor arranged in the vehicle, e.g. a radar sensor, a lidar sensor and / or a video sensor, the environmental situation is detected and analyzed below.
- an environmental sensor e.g. a radar sensor, a lidar sensor and / or a video sensor
- object detection methods objects in the field of view of the sensor are detected and classified.
- Driving trajectory of the environment sensor equipped vehicle is a likely unavoidable collision detected with one of the detected and classified objects and initiated an automatic braking of the vehicle.
- a collision is detected as unavoidable when the vehicle is on a
- Obstacle moves to and is located in a distance range to the obstacle, within which the vehicle can not be brought to a halt even by a full braking.
- the current steering angle determines the probable directionrajektorie of the vehicle, the object located in the driving trajectory identified (taking into account the dimensions of the vehicle) and the distance to this object and the driving speed of the vehicle measured.
- the maximum possible deceleration of the vehicle by braking is then determined whether the vehicle can come to a standstill within the distance or not. In the latter case, the collision is assumed to be unavoidable.
- the estimated impact speed when braking is determined (from the vehicle speed, the distance and the brake deceleration). If the impact speed is above a predetermined threshold, it is checked whether the determined ambient situation allows an evasive maneuver.
- the threshold is chosen - A -
- the size of the threshold may also be dependent on the detected object, i. for a pedestrian as a detected object to be lower (e.g., near or equal to zero) than for a vehicle.
- a degree of danger is determined on the basis of which the automatic transverse guidance is carried out or not carried out.
- FIG. 1 shows a device for carrying out the procedure outlined above.
- a control unit 50 is provided, the input component 56 signals from
- the Environment sensors 52 to 54 are supplied. Depending on the design, these sensors are one or more sensors, e.g. Video, Radar, Ultrasonic Sensors.
- the control unit 50 consists essentially of input component 56, computer 60 and output component 58. These components are interconnected by means of a bus system. Via the output component are actuators 62 to 64, e.g. Controlled brakes and / or a steering.
- the program outlined below runs in the computer 60, the mentioned input and output signals are supplied via the components 56 and 58 to the computer or the actuator (s).
- FIG. 2 shows, on the basis of a flow chart, an advantageous realization of the procedure described above as a program of the computer 60.
- the program outlined is run through during predetermined operation of the driver assistance system at predetermined time intervals.
- the signal of at least one environment sensor e.g. a video sensor with object detection, a probable unavoidable collision detected with a detected and tracked object and initiated an automatic braking.
- the determination as to whether an unavoidable collision is to be feared is made by comparing the speed and e.g. Steering angle determined
- Driving trajectory of the vehicle with the positions or the course of the positions of the detected objects If the gradients intersect at a certain point in time (taking into account the dimensions of the vehicle and / or object), the distance of the beam is determined (for example by means of a radar or ultrasonic sensor or by evaluation of the recorded images) Vehicle determined to object. If the distance is smaller than a safety distance derived, for example, from a possible deceleration of the vehicle, automatic braking is initiated with a predetermined, preferably distance-dependent delay.
- a predetermined deceleration value of the vehicle during automatic braking e.g. at full braking, and the distance determines the impact velocity, i. the speed of the vehicle (or the relative speed for a moving object) during braking when the distance is covered. If the impact speed is zero, the vehicle comes to a halt in front of the object due to the braking, the collision can be avoided. If an impact speed is greater than zero, the vehicle can not be brought to a standstill within the distance, then a collision is assumed to be unavoidable.
- Another possibility consists of vehicle data such as the speed and the
- Wheel speeds to calculate the slip of the wheels (difference between wheel speed and reference size or speed) and the probable location at which the vehicle is expected to stop. This is done by calculating the time and the distance traveled in this time on the assumed driving trajectory. From this, the standstill point is derived. If this point lies before the intersection of the two trajectors or the location of the
- the collision is assumed to be avoidable, otherwise unavoidable.
- step 104 it is checked whether it has been found in step 102 that the collision can be avoided by braking alone, in particular by full braking or braking with a predetermined delay, or not. If this is the case, according to step 106, the
- step 108 If the calculation has shown that the collision can not be avoided by braking, an assessment of the hazard potential is carried out in step 108. It is both the
- the type of the relevant object (lorry, car, pedestrian, etc.) is first determined and, depending on this, a threshold value for the impact speed is defined. For example, a value of zero is determined for a pedestrian in one embodiment. On the other hand, a higher threshold is assumed if the object is a truck. This value results from the endangerment of one's own vehicle or its occupants.
- the threshold values are empirical values that are defined for each vehicle type and each object type. If the calculated impact velocity is less than or equal to the threshold, no further action is taken and braking is performed (step 110).
- the traffic situation is analyzed with the existing environment sensor system.
- the objects in the environment are detected, classified and their position and / or trajectory compared with possible evasion trajectories of the vehicle.
- an evasion trajectory results from a steering angle course to be taken, which makes it possible to avoid the detected obstacle with which a collision is most likely to occur. The concrete calculation of such a steering angle course is carried out in an embodiment as described in the aforementioned prior art.
- the collision probability is then determined with a further object located in the alternative route.
- the hazard potential of one's own vehicle and / or other traffic participants also becomes a factor
- step 112 Collision with this object determined (step 112). If this hazard potential is smaller than that determined above, a signal is applied to the transverse guidance actuator analogously to the prior art mentioned at the beginning, so that evasion takes place upon continuation of the braking (step 116). If the danger potential on the avoidance trajectory or all possible avoidance trajectories is greater, the braking is continued without transverse guidance intervention (step 114). The test of whether the hazard potential is greater or lesser takes place by a threshold value comparison weighted by the type of the object. With the same hazard potential, avoidance is avoided. Thereafter, the program will be run again.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200610033145 DE102006033145A1 (de) | 2006-07-18 | 2006-07-18 | Verfahren und Vorrichtung zur Vermeidung und/oder Minderung der Folgen von Kollisionen |
PCT/EP2007/055893 WO2008009519A1 (de) | 2006-07-18 | 2007-06-14 | Verfahren und vorrichtung zur vermeidung und/oder minderung der folgen von kollisionen |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2043896A1 true EP2043896A1 (de) | 2009-04-08 |
EP2043896B1 EP2043896B1 (de) | 2010-05-19 |
Family
ID=38474459
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP07730160A Active EP2043896B1 (de) | 2006-07-18 | 2007-06-14 | Verfahren und vorrichtung zur vermeidung und/oder minderung der folgen von kollisionen |
Country Status (4)
Country | Link |
---|---|
US (1) | US9008957B2 (de) |
EP (1) | EP2043896B1 (de) |
DE (2) | DE102006033145A1 (de) |
WO (1) | WO2008009519A1 (de) |
Families Citing this family (28)
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DE102008003205A1 (de) * | 2008-01-04 | 2009-07-09 | Wabco Gmbh | Vorrichtung, Verfahren und Computerprogramm zur Kollisionsvermeidung oder zur Verminderung der Kollisionsschwere infolge einer Kollision für Fahrzeuge, insbesondere Nutzfahrzeuge |
DE102008035098A1 (de) * | 2008-07-28 | 2010-02-04 | GM Global Technology Operations, Inc., Detroit | Verfahren zum Betreiben eines Kraftfahrzeugs und Kraftfahrzeug |
DE102009045661A1 (de) * | 2009-10-14 | 2011-04-21 | Robert Bosch Gmbh | Verfahren zur Bestimmung wenigstens eines befahrbaren Bereichs in der, insbesondere für die Fahrzeugführung relevanten Umgebung eines Kraftfahrzeugs |
US9514647B2 (en) | 2010-10-20 | 2016-12-06 | GM Global Technology Operations LLC | Optimal acceleration profile for enhanced collision avoidance |
KR101786542B1 (ko) * | 2011-06-10 | 2017-11-16 | 현대모비스 주식회사 | 차량의 충돌회피 제어방법 |
JP5492242B2 (ja) * | 2012-03-29 | 2014-05-14 | 富士重工業株式会社 | 車両用運転支援装置 |
DE102012021004B4 (de) * | 2012-10-26 | 2020-09-10 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung zum Reduzieren von medizinischen Unfallfolgen bei unvermeidbaren Unfällen im Querverkehr |
JP5831530B2 (ja) | 2013-11-18 | 2015-12-09 | トヨタ自動車株式会社 | 車両制御装置 |
JP6174516B2 (ja) * | 2014-04-24 | 2017-08-02 | 本田技研工業株式会社 | 衝突回避支援装置、衝突回避支援方法、及びプログラム |
KR101628503B1 (ko) * | 2014-10-27 | 2016-06-08 | 현대자동차주식회사 | 운전자 보조장치 및 그 작동 방법 |
JP6308186B2 (ja) * | 2015-08-28 | 2018-04-11 | トヨタ自動車株式会社 | 衝突回避支援装置 |
US9701307B1 (en) | 2016-04-11 | 2017-07-11 | David E. Newman | Systems and methods for hazard mitigation |
US10351129B2 (en) * | 2017-01-13 | 2019-07-16 | Ford Global Technologies, Llc | Collision mitigation and avoidance |
US11124185B2 (en) * | 2018-11-13 | 2021-09-21 | Zoox, Inc. | Perception collision avoidance |
DE102018221241A1 (de) | 2018-12-07 | 2020-06-10 | Volkswagen Aktiengesellschaft | Fahrassistenzsystem für einen Kraftwagen, Kraftwagen und Verfahren zum Betreiben eines Kraftwagens |
US11104332B2 (en) | 2018-12-12 | 2021-08-31 | Zoox, Inc. | Collision avoidance system with trajectory validation |
US10820349B2 (en) | 2018-12-20 | 2020-10-27 | Autonomous Roadway Intelligence, Llc | Wireless message collision avoidance with high throughput |
US10816635B1 (en) | 2018-12-20 | 2020-10-27 | Autonomous Roadway Intelligence, Llc | Autonomous vehicle localization system |
US10939471B2 (en) | 2019-06-13 | 2021-03-02 | David E. Newman | Managed transmission of wireless DAT messages |
US10820182B1 (en) | 2019-06-13 | 2020-10-27 | David E. Newman | Wireless protocols for emergency message transmission |
US10713950B1 (en) | 2019-06-13 | 2020-07-14 | Autonomous Roadway Intelligence, Llc | Rapid wireless communication for vehicle collision mitigation |
US11100801B2 (en) * | 2019-08-12 | 2021-08-24 | Toyota Motor North America, Inc. | Utilizing sensors to detect hazard from other vehicle while driving |
DE102019213223A1 (de) * | 2019-09-02 | 2021-03-04 | Volkswagen Aktiengesellschaft | Kollisionsvermeidung bei Annäherung eines Fahrzeugs an eine Anhängerdeichsel |
DE102019219367A1 (de) * | 2019-12-11 | 2021-06-17 | Continental Automotive Gmbh | Verfahren zur Regulierung einer Kollision |
DE102020200951A1 (de) * | 2020-01-27 | 2021-07-29 | Robert Bosch Gesellschaft mit beschränkter Haftung | Fahrerassistenzsystem und Verfahren zum Ansteuern eines Fahrzeugs, insbesondere Nutzfahrzeugs |
EP3895948A1 (de) | 2020-04-15 | 2021-10-20 | Technische Universität München | Einschersicheres adaptives geschwindigkeitsregelsystem für fahrzeuge |
US11206092B1 (en) | 2020-11-13 | 2021-12-21 | Ultralogic 5G, Llc | Artificial intelligence for predicting 5G network performance |
US11202198B1 (en) | 2020-12-04 | 2021-12-14 | Ultralogic 5G, Llc | Managed database of recipient addresses for fast 5G message delivery |
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US5983161A (en) * | 1993-08-11 | 1999-11-09 | Lemelson; Jerome H. | GPS vehicle collision avoidance warning and control system and method |
DE4335979A1 (de) | 1993-10-21 | 1995-04-27 | Telefunken Microelectron | Sicherheits-Management-System (SMS) |
DE19647283A1 (de) * | 1995-11-25 | 1997-05-28 | Volkswagen Ag | Vorrichtung zur Vermeidung und/oder Minimierung von Konfliktsituationen im Straßenverkehr |
EP0891903B1 (de) * | 1997-07-17 | 2009-02-11 | Volkswagen Aktiengesellschaft | Automatische Notbremsfunktion |
DE19828693A1 (de) * | 1998-06-26 | 1999-12-30 | Volkswagen Ag | Verfahren und Steuereinrichtung zur Minimierung von Unfallfolgen |
DE10033907A1 (de) * | 2000-07-12 | 2002-01-24 | Bosch Gmbh Robert | Verfahren zum Ermitteln der Schwere eines Frontaufpralls |
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DE50211974D1 (de) * | 2001-07-11 | 2008-05-08 | Bosch Gmbh Robert | Verfahren und vorrichtung zum selbsttätigen auslösen einer verzögerung eines fahrzeugs |
EP1409311B1 (de) * | 2001-07-11 | 2006-05-03 | Robert Bosch Gmbh | Verfahren und vorrichtung zum auslösen und durchführen einer verzögerung eines fahrzeugs |
US6496764B1 (en) * | 2001-08-23 | 2002-12-17 | General Motors Corporation | Vehicle impact-sensing method with improved severity discrimination |
US7016783B2 (en) * | 2003-03-28 | 2006-03-21 | Delphi Technologies, Inc. | Collision avoidance with active steering and braking |
US7253724B2 (en) * | 2004-11-05 | 2007-08-07 | Ford Global Technologies, Inc. | Vehicle pre-impact sensing and control system with driver response feedback |
DE102004056027A1 (de) * | 2004-11-20 | 2006-05-24 | Daimlerchrysler Ag | Verfahren und Fahrzeugassistenzsystem zur Verhinderung von Kollisionen oder Verminderung der Kollisionsstärke eines Fahrzeugs |
DE102005003274A1 (de) | 2005-01-25 | 2006-07-27 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Vermeidung und/oder Minderung der Folgen von Kollisionen beim Ausweichen vor Hindernissen |
DE102005008715A1 (de) * | 2005-02-25 | 2006-08-31 | Robert Bosch Gmbh | Radarsystem für Kraftfahrzeuge |
US8447472B2 (en) * | 2007-01-16 | 2013-05-21 | Ford Global Technologies, Llc | Method and system for impact time and velocity prediction |
-
2006
- 2006-07-18 DE DE200610033145 patent/DE102006033145A1/de not_active Withdrawn
-
2007
- 2007-06-14 EP EP07730160A patent/EP2043896B1/de active Active
- 2007-06-14 WO PCT/EP2007/055893 patent/WO2008009519A1/de active Application Filing
- 2007-06-14 US US12/305,426 patent/US9008957B2/en active Active
- 2007-06-14 DE DE502007003872T patent/DE502007003872D1/de active Active
Non-Patent Citations (1)
Title |
---|
See references of WO2008009519A1 * |
Also Published As
Publication number | Publication date |
---|---|
US20090299593A1 (en) | 2009-12-03 |
DE102006033145A1 (de) | 2008-01-24 |
EP2043896B1 (de) | 2010-05-19 |
DE502007003872D1 (de) | 2010-07-01 |
US9008957B2 (en) | 2015-04-14 |
WO2008009519A1 (de) | 2008-01-24 |
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